Robotic Surface Scanning Viewpoint Planning for Complex 3D Stone Carving

doi:10.3901/JME.2024.08.022

Abstract

Abstract: Currently, the lack of quality inspection of the workpiece surface in the robotic stone carving segment does not guarantee the accuracy of subsequent robotic grinding and polishing, which leads to product scrap. Therefore, a new method of robot surface scanning viewpoint planning based on cross-sectional line point clouds is proposed and applied to the automated measurement of complex 3D stone carving. Firstly, the optimal scanning process parameters are determined using single-factor experiments and the central composite design response surface method. Secondly, the number of cross-section lines is determined by using the minimum external circular column, and the effect of different sampling methods of cross-section lines on the scanning quality is investigated, the scanning viewpoints are obtained by selecting equal arc length sampling, detected by vector fork multiplication and separation axis theory, and optimized for the viewpoints with occlusion and collision, and a growth clustering algorithm is proposed to optimize the scanning direction for the problem that the scanning efficiency is reduced due to frequent change of scanning direction in the scanning process. In addition, to ensure the continuity of the whole scanning process, rotational scanning is introduced between two adjacent scanning paths. Finally, the scanning viewpoint planning and measurement experiments of Maitreya Buddha (260 mm×210 mm×560 mm) are carried out. The results show that the overall scanning time is 152 s, the scanning integrity is 100%, and the scanning accuracy is 0.26 mm. The proposed method can quickly complete the 3D scanning of complex three-dimensional stone sculptures, and the model scanned using the planned viewpoint has good integrity and high accuracy, which can meet the automated measurement requirements of complex three-dimensional stone sculptures.

Key words: 3D complex stone carving, robotic surface scanning, optimal scanning process, viewpoint planning, rotational scanning

CLC Number:

TG156

QIN Guanglin, CUI Changcai, YIN Fangchen, HUANG Hui. Robotic Surface Scanning Viewpoint Planning for Complex 3D Stone Carving[J]. Journal of Mechanical Engineering, 2024, 60(8): 22-33.

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